DtFixedWingActuatorComponent provides a simple, kinematics-based model for air motion based on throttle, stick, and pedal inputs. More...

Inheritance diagram for DtFixedWingActuatorComponent:

[legend]

List of all members.

Public Member Functions
	DtFixedWingActuatorComponent (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
virtual	~DtFixedWingActuatorComponent ()
	destructor Removes process state from process state manager before deleting it.
virtual bool	init ()
	to get access to the entity's localStateRepository, which this component will update, and then connect to the controller's ports.
virtual DtString	type () const
	Returns a string identifies the class type of component.
virtual void	tick ()
	Calls either doFlying or doTaxiing, based on a onGround() call to myFixedWingEntityState.
virtual void	calculateBodyVelocity (const DtVector &oldRelativeVelocity, const DtDcm &newLocalOrientation, DtVector &newBodyVelocity)
	Put current velocity into body coordinates (AFTER rotating body).
virtual void	calculateAirborneAcceleration (const DtVector oldLocalPosition, double oldSpeed, const DtDcm &newLocalOrientation, const DtVector &newBodyVelocity, double throttle, DtVector &newRelativeAcceleration)
	Calculates the sum acceleration from myBodyGravity, myBodyDrag and myBodyThrust.
Static Public Member Functions
static DtSimComponent *	creator (const DtString &name, DtVrfObject owner, DtSimManager simManager, DtComponentDescriptor desc=0, DtReaderWriterRegistry parentRegistry=0)
	(const DtString&,DtVrfObject,DtSimManager,
Protected Member Functions
virtual void	doFlying ()
	When the plane is in the air, this does the actual flying.
virtual void	doTaxiing ()
	When the FWE is on the ground, this does the actual taxiing.
virtual bool	isTouchingDown (const DtVector &newLocalPosition, const DtVector &newRelativeVelocity)
	Returns true of false depending on whether the aircraft is currently landing or not.
virtual bool	isTakingOff (bool isOnGround, double speed)
	Returns true of false depending on whether the aircraft is currently taking off or not.
virtual bool	updateGroundInteractionPoints (DtGroundInteractionPt left, DtGroundInteractionPt right, DtGroundInteractionPt nose, DtGroundInteractionPt center, const DtDcm &localOrientation, const DtVector &localPosition, double halfHeightOfTerrainIntersectChord)
virtual double	calculateYawRate (double pedal)
	These functions are for when the FWEs are in the AIR.
virtual double	calculatePitchRate (double stickYValue)
	Find pitch rate.
virtual double	calculateRollRate (double stickXValue)
	Find roll rate.
virtual void	calculateBodyRotationRates (double pedal, double stickXValue, double stickYValue, DtVector &newBodyRotationRates)
virtual void	calculateOrientation (const DtDcm &oldLocalOrientation, const DtVector &newBodyRotationRates, DtDcm &newLocalOrientation)
	Uses current local orientation, rotationRates in SR, and dT.
virtual void	calculateBodyGravity (const DtVector oldLocalPosition, const DtDcm &newLocalOrientation, DtVector &newBodyGravityAcceleration)
	Put acceleration due to gravity in body coordinates.
virtual void	calculateThrustAcceleration (double throttle, DtVector &newBodyThrustAccleration)
	Calculate scalar accel in direction of thrust based on the throttle port and the maximum thrust, and store the value in myBodyThrust[0].
virtual void	calculateDragAcceleration (double oldSpeed, const DtVector &newBodyVelocity, bool flapsDeployed, DtVector &newBodyDragAccleration)
	Calculate scalar drag accel opposite direction of current velocity.
virtual void	fallFromSky (const DtString &reason=DtString::nullString())
	Causes the entity to fall from the sky.
virtual bool	collidesWithGround (const DtVector &oldLocalPosition, const DtVector &newLocalPosition, DtVector &localCenterGoundPosition)
	const DtVector& newLocalPosition, const DtDcm& newLocalOrientation, DtVector& localCenterGroundPosition);
void	integrate (const DtVector &oldLocalPosition, const DtVector &oldRelativeVelocity, const DtVector &newRelativeAcceleration, DtVector &newLocalPosition, DtVector &newRelativeVelocity)
	Integrates myRelativeVelocity and myLocalPosition.
virtual void	useFuel (double fuelUsed)
	Assumes the fuel resource has resource name "fuel" If not found, fuel consumption not will not be modelled.
virtual double	fuelLeft () const
virtual double	calculateHeading (double oldHeading, double steering, double dT, double speed, double turningRadius)
	These functions are for when the FWEs are on the GROUND.
virtual void	calculateScalarVelocityAndAcceleration (double oldPitch, double &scalarVelocity, double &scalarAcceleration)
virtual double	calculateMaxGroundSpeed ()
virtual double	calculateMaxGroundAcceleration ()
virtual double	calculateAcceleration (double pitch, double maxSpeed, double maxAccel)
virtual double	calculateAccelerationFromThrottle ()
virtual double	calculateAccelerationFromSlope (double slope)
virtual double	calculateAccelerationFromResistance (double maxSpeed, double maxAccel)
virtual double	calculateAccelerationFromBrake (double otherAccels)
virtual DtVector	calculateProjectedLocation (const DtVector &oldLocalPosition, const DtVector &newBodyAcceleration, const DtVector &oldBodyVelocity, double newHeading)
virtual void	calculateOrientationAndPositionOnGround (const DtVector &newLocalProjectedLocation, double newHeading, DtDcm &newLocalOrientation, DtVector &newLocalPosition)
virtual void	updateRepository (const DtVector &newLocalPosition, const DtVector &newRelativeVelocity, const DtVector &newRelativeAcceleration, const DtDcm &newLocalOrientation, const DtVector &newBodyRotationRates, bool isOnGround, const DtAppearance &newAppearance)
virtual void	updateDisplay () const
virtual double	maxThrustAcceleration () const
	These accessors to the actuator's parameters are provided for use by the controllers that must control it.
virtual double	maxClimbRate () const
virtual double	maxYawVelocity () const
virtual double	maxPitchVelocity () const
virtual double	maxRollVelocity () const
virtual double	maxAltitude () const
virtual bool	createPortGroups ()
	Creates the local port groups.
virtual bool	createPorts ()
	Creates the input ports and adds them to the component.
virtual bool	createPSR ()
	Creates myProcessState data member, and adds it to our process state repository manager.
virtual void	sendDetonation (const DtVector &geocentricPosition)
	DtFixedWingActuatorComponent ()
	default constructor; not implemented
	DtFixedWingActuatorComponent (const DtFixedWingActuatorComponent &orig)
	copy constructor; not implemented
const DtFixedWingActuatorComponent &	operator= (const DtFixedWingActuatorComponent &orig)
	assignment operator; not implemented
Protected Attributes
DtFixedWingEntityStateRepository *	myFixedWingEntityState
DtFixedWingActuatorDescriptor *	myFixedWingActuatorDescriptor
DtFixedWingFlightPSR *	myProcessState
	Container for state data associated with this component.
bool	myFirstTick
bool	mySentFallingMessage
	Used to make sure fall message is only sent once.
Ports and Port Groups
DtInputPortGroup *	myFixedWingControlPortGroup
	Input Port Group Name: fixed-wing-control Input Port Group Description: Provides input to the fixed-wing actuator (flight-kinematics).
DtConstrainedAnalogInputPort *	myThrottlePort
	Input Port Name: throttle Input Port Description: Input Port Range: 0.
DtConstrainedDualAxisAnalogInputPort *	myStickPort
	Input Port Name: stick Input Port Description: Input Port Range: X:-1.
DtConstrainedAnalogInputPort *	myPedalPort
	Input Port Name: pedal Input Port Description: Input Port Range: -1.
DtConstrainedAnalogInputPort *	myBrakePort
	Input Port Name: brake Input Port Description: Input Port Range: 0.
DtBooleanInputPort *	myFlapsDeployedPort
	Input Port Name: flaps Input Port Description: Input Port Range: Input Port Default Value: false Input Group Parent: fixed-wing-control.

Detailed Description

DtFixedWingActuatorComponent provides a simple, kinematics-based model for air motion based on throttle, stick, and pedal inputs.

End User Description: DtFixedWingActuatorComponent is based on the original DtFixedWingActuatorComponent, but instead of stick and pedal control values causing changes in rotational acceleration, in this simplified model they effect changes in rotational velocity instead. So 0 x/y stick and 0 pedal will result in no rotation of the airframe.

Uses Descriptor Type: DtComponentDescriptor

Constructor & Destructor Documentation

DtFixedWingActuatorComponent::DtFixedWingActuatorComponent	(	const DtString &	name,
		DtVrfObject *	owner,
		DtSimManager *	simManager,
		DtComponentDescriptor *	desc = `0`,
		DtReaderWriterRegistry *	parentRegistry = `0`
	)

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters:

name	Reader writer name of this component.
owner	The DtVrfObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

virtual DtFixedWingActuatorComponent::~DtFixedWingActuatorComponent ( ) [virtual]

destructor Removes process state from process state manager before deleting it.

DtFixedWingActuatorComponent::DtFixedWingActuatorComponent ( ) [protected]

default constructor; not implemented

DtFixedWingActuatorComponent::DtFixedWingActuatorComponent ( const DtFixedWingActuatorComponent & orig ) [protected]

copy constructor; not implemented

Member Function Documentation

virtual bool DtFixedWingActuatorComponent::init ( ) [virtual]

to get access to the entity's localStateRepository, which this component will update, and then connect to the controller's ports.

Reimplemented from DtActuatorComponent.

virtual DtString DtFixedWingActuatorComponent::type ( ) const [virtual]

Returns a string identifies the class type of component.

Type values are defined in compTypes.h. DtSimComponent creation functions are registered with the DtSimComponentFactory using the type values as the key.

Returns:: DtFixedWingActuatorType

Reimplemented from DtSimComponent.

virtual void DtFixedWingActuatorComponent::tick ( ) [virtual]

Calls either doFlying or doTaxiing, based on a onGround() call to myFixedWingEntityState.

Reimplemented from DtSimComponent.

static DtSimComponent* DtFixedWingActuatorComponent::creator	(	const DtString &	name,
		DtVrfObject *	owner,
		DtSimManager *	simManager,
		DtComponentDescriptor *	desc = `0`,
		DtReaderWriterRegistry *	parentRegistry = `0`
	)		`[static]`

(const DtString&,DtVrfObject*,DtSimManager*,

Parameters:

name	Reader writer name of this component.
owner	The DtVrfObject that owns this component
simManager	The simulation manager (provides access to terrain, message interface, simulation clock).
desc	The component descriptor used to initialize this component.
parentRegistry	Pointer to the parent reader writer registry (the containing object that reads/writes this object).

(const DtString&,DtVrfObject*,DtSimManager*, DtComponentDescriptor*,DtReaderWriterRegistry* parentRegistry)

Returns:: New instance of this class.

virtual void DtFixedWingActuatorComponent::calculateBodyVelocity	(	const DtVector &	oldRelativeVelocity,
		const DtDcm &	newLocalOrientation,
		DtVector &	newBodyVelocity
	)		`[virtual]`

Put current velocity into body coordinates (AFTER rotating body).

Uses myLocalToBodyMatrix, which is calculated by calculateOrientation(). Stores the result in myNormalizedBodyVelocity.

virtual void DtFixedWingActuatorComponent::calculateAirborneAcceleration	(	const DtVector	oldLocalPosition,
		double	oldSpeed,
		const DtDcm &	newLocalOrientation,
		const DtVector &	newBodyVelocity,
		double	throttle,
		DtVector &	newRelativeAcceleration
	)		`[virtual]`

Calculates the sum acceleration from myBodyGravity, myBodyDrag and myBodyThrust.

Stores the result in myRelativeAcceleration. This function should only be called when the FWE is in the AIR!

virtual void DtFixedWingActuatorComponent::doFlying ( ) [protected, virtual]

When the plane is in the air, this does the actual flying.

virtual void DtFixedWingActuatorComponent::doTaxiing ( ) [protected, virtual]

When the FWE is on the ground, this does the actual taxiing.

virtual bool DtFixedWingActuatorComponent::isTouchingDown	(	const DtVector &	newLocalPosition,
		const DtVector &	newRelativeVelocity
	)		`[protected, virtual]`

Returns true of false depending on whether the aircraft is currently landing or not.

virtual bool DtFixedWingActuatorComponent::isTakingOff	(	bool	isOnGround,
		double	speed
	)		`[protected, virtual]`

Returns true of false depending on whether the aircraft is currently taking off or not.

virtual bool DtFixedWingActuatorComponent::updateGroundInteractionPoints	(	DtGroundInteractionPt *	left,
		DtGroundInteractionPt *	right,
		DtGroundInteractionPt *	nose,
		DtGroundInteractionPt *	center,
		const DtDcm &	localOrientation,
		const DtVector &	localPosition,
		double	halfHeightOfTerrainIntersectChord
	)		`[protected, virtual]`

virtual double DtFixedWingActuatorComponent::calculateYawRate ( double pedal ) [protected, virtual]

These functions are for when the FWEs are in the AIR.

They are NOT supposed to be called when the FWEs are on the GROUND.

Find yaw rate.

virtual double DtFixedWingActuatorComponent::calculatePitchRate ( double stickYValue ) [protected, virtual]

Find pitch rate.

virtual double DtFixedWingActuatorComponent::calculateRollRate ( double stickXValue ) [protected, virtual]

Find roll rate.

virtual void DtFixedWingActuatorComponent::calculateBodyRotationRates	(	double	pedal,
		double	stickXValue,
		double	stickYValue,
		DtVector &	newBodyRotationRates
	)		`[protected, virtual]`

virtual void DtFixedWingActuatorComponent::calculateOrientation	(	const DtDcm &	oldLocalOrientation,
		const DtVector &	newBodyRotationRates,
		DtDcm &	newLocalOrientation
	)		`[protected, virtual]`

Uses current local orientation, rotationRates in SR, and dT.

Results placed in object pointed to by orientation argument.

virtual void DtFixedWingActuatorComponent::calculateBodyGravity	(	const DtVector	oldLocalPosition,
		const DtDcm &	newLocalOrientation,
		DtVector &	newBodyGravityAcceleration
	)		`[protected, virtual]`

Put acceleration due to gravity in body coordinates.

virtual void DtFixedWingActuatorComponent::calculateThrustAcceleration	(	double	throttle,
		DtVector &	newBodyThrustAccleration
	)		`[protected, virtual]`

Calculate scalar accel in direction of thrust based on the throttle port and the maximum thrust, and store the value in myBodyThrust[0].

virtual void DtFixedWingActuatorComponent::calculateDragAcceleration	(	double	oldSpeed,
		const DtVector &	newBodyVelocity,
		bool	flapsDeployed,
		DtVector &	newBodyDragAccleration
	)		`[protected, virtual]`

Calculate scalar drag accel opposite direction of current velocity.

Stores the result in myBodyDrag. This function should only be called when the FWE is in the AIR! When flapsDeployed is true, the drag from flaps is factored in as well.

virtual void DtFixedWingActuatorComponent::fallFromSky ( const DtString & reason = DtString::nullString() ) [protected, virtual]

Causes the entity to fall from the sky.

If this is the first time this method was called since the entity has been flying correctly, the optional reason message is passed to the object console for the entity.

virtual bool DtFixedWingActuatorComponent::collidesWithGround	(	const DtVector &	oldLocalPosition,
		const DtVector &	newLocalPosition,
		DtVector &	localCenterGoundPosition
	)		`[protected, virtual]`

const DtVector& newLocalPosition, const DtDcm& newLocalOrientation, DtVector& localCenterGroundPosition);

void DtFixedWingActuatorComponent::integrate	(	const DtVector &	oldLocalPosition,
		const DtVector &	oldRelativeVelocity,
		const DtVector &	newRelativeAcceleration,
		DtVector &	newLocalPosition,
		DtVector &	newRelativeVelocity
	)		`[protected]`

Integrates myRelativeVelocity and myLocalPosition.

virtual void DtFixedWingActuatorComponent::useFuel ( double fuelUsed ) [protected, virtual]

Assumes the fuel resource has resource name "fuel" If not found, fuel consumption not will not be modelled.

virtual double DtFixedWingActuatorComponent::fuelLeft ( ) const [protected, virtual]

virtual double DtFixedWingActuatorComponent::calculateHeading	(	double	oldHeading,
		double	steering,
		double	dT,
		double	speed,
		double	turningRadius
	)		`[protected, virtual]`

These functions are for when the FWEs are on the GROUND.

They are NOT supposed to be called when the FWEs are in the AIR.

virtual void DtFixedWingActuatorComponent::calculateScalarVelocityAndAcceleration	(	double	oldPitch,
		double &	scalarVelocity,
		double &	scalarAcceleration
	)		`[protected, virtual]`

virtual double DtFixedWingActuatorComponent::calculateMaxGroundSpeed ( ) [protected, virtual]

virtual double DtFixedWingActuatorComponent::calculateMaxGroundAcceleration ( ) [protected, virtual]

virtual double DtFixedWingActuatorComponent::calculateAcceleration	(	double	pitch,
		double	maxSpeed,
		double	maxAccel
	)		`[protected, virtual]`

virtual double DtFixedWingActuatorComponent::calculateAccelerationFromThrottle ( ) [protected, virtual]

virtual double DtFixedWingActuatorComponent::calculateAccelerationFromSlope ( double slope ) [protected, virtual]

virtual double DtFixedWingActuatorComponent::calculateAccelerationFromResistance	(	double	maxSpeed,
		double	maxAccel
	)		`[protected, virtual]`

virtual double DtFixedWingActuatorComponent::calculateAccelerationFromBrake ( double otherAccels ) [protected, virtual]

virtual DtVector DtFixedWingActuatorComponent::calculateProjectedLocation	(	const DtVector &	oldLocalPosition,
		const DtVector &	newBodyAcceleration,
		const DtVector &	oldBodyVelocity,
		double	newHeading
	)		`[protected, virtual]`

virtual void DtFixedWingActuatorComponent::calculateOrientationAndPositionOnGround	(	const DtVector &	newLocalProjectedLocation,
		double	newHeading,
		DtDcm &	newLocalOrientation,
		DtVector &	newLocalPosition
	)		`[protected, virtual]`

virtual void DtFixedWingActuatorComponent::updateRepository	(	const DtVector &	newLocalPosition,
		const DtVector &	newRelativeVelocity,
		const DtVector &	newRelativeAcceleration,
		const DtDcm &	newLocalOrientation,
		const DtVector &	newBodyRotationRates,
		bool	isOnGround,
		const DtAppearance &	newAppearance
	)		`[protected, virtual]`

virtual void DtFixedWingActuatorComponent::updateDisplay ( ) const [protected, virtual]

virtual double DtFixedWingActuatorComponent::maxThrustAcceleration ( ) const [protected, virtual]

These accessors to the actuator's parameters are provided for use by the controllers that must control it.

virtual double DtFixedWingActuatorComponent::maxClimbRate ( ) const [protected, virtual]

virtual double DtFixedWingActuatorComponent::maxYawVelocity ( ) const [protected, virtual]

virtual double DtFixedWingActuatorComponent::maxPitchVelocity ( ) const [protected, virtual]

virtual double DtFixedWingActuatorComponent::maxRollVelocity ( ) const [protected, virtual]

virtual double DtFixedWingActuatorComponent::maxAltitude ( ) const [protected, virtual]

virtual bool DtFixedWingActuatorComponent::createPortGroups ( ) [protected, virtual]

Creates the local port groups.

Reimplemented from DtSimComponent.

virtual bool DtFixedWingActuatorComponent::createPorts ( ) [protected, virtual]

Creates the input ports and adds them to the component.

Reimplemented from DtSimComponent.

virtual bool DtFixedWingActuatorComponent::createPSR ( ) [protected, virtual]

Creates myProcessState data member, and adds it to our process state repository manager.

Passes in the name and type specified in the component descriptor (if they exist) to the DtVrfProcessStateRepository::createRepository factory method. If name and/or type is not specified, uses the appropriate default strings defined in procSRTypes.h.

virtual void DtFixedWingActuatorComponent::sendDetonation ( const DtVector & geocentricPosition ) [protected, virtual]